# US 11,897,508 B2 · Navigation with a safe lateral distance

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- Number: US 11,897,508 B2
- Document ID: US11897508B2
- Status: Granted
- Kind: B2
- Application number: 17/174,844
- Filed: 2021-02-12
- Published: 2021-06-24
- Granted: 2024-02-13
- Earliest claimed: 2018-08-14
- Assignees: Mobileye Vision Technologies Ltd.
- Applicants: Mobileye Vision Technologies Ltd.
- Inventors: Shai Shalev-Shwartz; Shaked Shammah; Amnon Shashua; Barak Cohen; Zeev Adelman
- Web page: https://patentgrep.com/patent/US11897508B2

## CPC

- B60W 60/0016: {of the vehicle or its occupants}
- B60W 10/18: including control of braking systems
- B60W 10/20: including control of steering systems
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters}
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 30/181: {Preparing for stopping}
- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- B60W 40/02: related to ambient conditions
- B60W 40/105: Speed
- B60W 40/107: Longitudinal acceleration
- B60W 60/001: {Planning or execution of driving tasks}
- B60W 60/0015: {specially adapted for safety}
- B60W 60/0017: {of other traffic participants}
- G01S 13/931: of land vehicles
- G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras
- G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80)
- G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51)
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V 20/584: {of vehicle lights or traffic lights}
- G06V 40/10: Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2510/18: Braking system
- B60W 2520/10: Longitudinal speed
- B60W 2520/105: Longitudinal acceleration
- B60W 2520/12: Lateral speed
- B60W 2520/125: Lateral acceleration
- B60W 2520/14: Yaw
- B60W 2530/201: Dimensions of vehicle
- B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads
- B60W 2552/45: Pedestrian sidewalk
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2554/402: Type
- B60W 2554/4029: Pedestrians
- B60W 2554/4041: Position
- B60W 2554/4042: Longitudinal speed
- B60W 2554/4043: Lateral speed
- B60W 2554/4044: Direction of movement, e.g. backwards
- B60W 2554/4045: Intention, e.g. lane change or imminent movement
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2554/801: Lateral distance
- B60W 2554/806: Relative heading
- B60W 2555/60: Traffic rules, e.g. speed limits or right of way
- B60W 2720/10: Longitudinal speed
- B60W 2754/20: Lateral distance
- B60W 2754/30: Longitudinal distance
- G01S 2013/9323: {Alternative operation using light waves}
- G06T 2207/30196: Human being; Person
- G06T 2207/30261: Obstacle
- G06V 2201/07: Target detection
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

Systems and methods are provided for navigating a host vehicle. At least one processing device may be programmed to receive an image representative of an environment of the host vehicle; determine a planned navigational action for the host vehicle; analyze the image to identify a target vehicle in the environment of the host vehicle; determine a next-state lateral distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a lateral braking distance for the host vehicle and the target vehicle based on a maximum yaw rate capability, a maximum change in turn radius capability, and a current lateral speed of the host vehicle and the target vehicle; and implement the planned navigational action if the determined next-state distance is greater than a sum of the lateral braking distances for the host vehicle and the target vehicle.

## Claims

### Claim 1

A method for navigating a host vehicle, the method comprising: receiving, from an image capture device, at least one image representative of an environment of the host vehicle;
determining, based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;
analyzing the at least one image to identify a target vehicle in the environment of the host vehicle;
determining a next-state lateral distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
determining a maximum yaw rate capability of the host vehicle, a maximum change in turn radius capability of the host vehicle, and a current lateral speed of the host vehicle;
determining a lateral braking distance for the host vehicle based on the maximum yaw rate capability of the host vehicle, the maximum change in turn radius capability of the host vehicle, and the current lateral speed of the host vehicle;
determining a current lateral speed of the target vehicle, a target vehicle maximum yaw rate capability, and a target vehicle maximum change in turn radius capability;
determining a lateral braking distance for the target vehicle based on the current lateral speed of the target vehicle, the target vehicle maximum yaw rate capability, and the target vehicle maximum change in turn radius capability;
determining that the next-state lateral distance is greater than a sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle; and
implementing the planned navigational action when the determined next-state lateral distance is greater than the sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle.

### Claim 2 (depends on 1)

The method of claim 1, wherein the lateral braking distance for the host vehicle corresponds to a distance required to achieve a host vehicle lateral speed of zero, at the maximum yaw rate capability of the host vehicle and the maximum change in turn radius capability of the host vehicle, starting from the current lateral speed of the host vehicle and after a lateral acceleration of the host vehicle as a result of a turning maneuver made toward the target vehicle at the maximum yaw rate capability of the host vehicle and the maximum change in turn radius capability of the host vehicle during a reaction time associated with the host vehicle.

### Claim 3 (depends on 1)

The method of claim 1, wherein the lateral braking distance for the target vehicle corresponds to a distance required to achieve a target vehicle lateral speed of zero, at the target vehicle maximum yaw rate capability and the target vehicle maximum change in turn radius capability, starting from the current lateral speed of the target vehicle and after a lateral acceleration of the target vehicle as a result of a turning maneuver by the target vehicle toward the host vehicle made at the target vehicle maximum yaw rate capability and the target vehicle maximum change in turn radius capability during a reaction time associated with the target vehicle.

### Claim 4 (depends on 1)

The method of claim 1, wherein the at least one processing device is programmed to implement the planned navigational action regardless of the next-state lateral distance if the planned navigational action would result in a safe longitudinal distance between the host vehicle and the target vehicle.

### Claim 5 (depends on 4)

The method of claim 4, wherein the safe longitudinal distance is greater than or equal to a sum of a host vehicle longitudinal stopping distance and a target vehicle longitudinal stopping distance;
wherein the host vehicle stopping distance is based on a maximum longitudinal braking capability of the host vehicle and a current longitudinal speed of the host vehicle, and wherein the host vehicle stopping distance includes a host vehicle acceleration distance corresponding to a distance the host vehicle can travel at a maximum acceleration capability of the host vehicle during a reaction time associated with the host vehicle starting from the current longitudinal speed of the host vehicle; and
wherein the target vehicle stopping distance is based on a maximum longitudinal braking capability of the target vehicle and a current longitudinal speed of the target vehicle, and wherein the target vehicle stopping distance includes a target vehicle acceleration distance corresponding to a distance the target vehicle can travel at a maximum acceleration capability of the target vehicle during a reaction time associated with the target vehicle starting from the current longitudinal speed of the target vehicle.

### Claim 6 (depends on 1)

The method of claim 1, wherein at least one of the target vehicle maximum yaw rate capability and the target vehicle maximum change in turn radius capability is determined based on at least one characteristic of the target vehicle identified through analysis of the at least one image.

### Claim 7 (depends on 6)

The system of claim 6, wherein the at least one characteristic of the target vehicle includes one or more of a vehicle type, a vehicle size, or a vehicle model.

### Claim 8 (depends on 1)

The method of claim 1, wherein the maximum yaw rate capability of the host vehicle and the maximum change in turn radius capability of the host vehicle are based on predetermined constraints for the host vehicle.

### Claim 9 (depends on 1)

The method of claim 1, wherein the current lateral speed of the target vehicle is determined based on an output of a RADAR unit or a LIDAR unit associated with the host vehicle.

### Claim 10 (depends on 1)

The method of claim 1, wherein at least one of the maximum yaw rate capability of the host vehicle, the maximum change in turn radius capability of the host vehicle, the target vehicle maximum yaw rate capability, or the target vehicle maximum change in turn radius capability is determined based on a sensed condition of a road surface.

### Claim 11 (depends on 1)

The method of claim 1, wherein at least one of the maximum yaw rate capability of the host vehicle, the maximum change in turn radius capability of the host vehicle, the target vehicle maximum yaw rate capability, or the target vehicle maximum change in turn radius capability is determined based on a sensed weather condition.

### Claim 12 (depends on 1)

The method of claim 1, wherein the planned navigational action includes at least one of a lane change maneuver, a merge maneuver, a passing maneuver, a parking lot navigation maneuver, or a turning maneuver.

### Claim 13 (depends on 1)

The method of claim 1, wherein the at least one processing device is configured to implement the planned navigational action if the determined next-state lateral distance is greater, by at least a predetermined minimum distance, than the sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle.

### Claim 14 (depends on 13)

The method of claim 13, wherein the predetermined minimum distance corresponds to a predetermined lateral separation distance to be maintained between the host vehicle and other vehicles.

### Claim 15

A system for navigating a host vehicle, the system comprising;
at least one processing device programmed to:
receive, from an image capture device, at least one image representative of an environment of the host vehicle;
determine, based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;
analyze the at least one image to identify a target vehicle in the environment of the host vehicle;
determine a next-state lateral distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
determine a maximum yaw rate capability of the host vehicle, a maximum change in turn radius capability of the host vehicle, and a current lateral speed of the host vehicle;
determine a lateral braking distance for the host vehicle based on the maximum yaw rate capability of the host vehicle, the maximum change in turn radius capability of the host vehicle, and the current lateral speed of the host vehicle;
determine a current lateral speed of the target vehicle, a target vehicle maximum yaw rate capability, and a target vehicle maximum change in turn radius capability;
determine a lateral braking distance for the target vehicle based on the current lateral speed of the target vehicle, the target vehicle maximum yaw rate capability, and the target vehicle maximum change in turn radius capability; and
implement the planned navigational action if the determined next-state lateral distance is greater than a sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle.

### Claim 16 (depends on 15)

The system of claim 15, wherein the lateral braking distance for the host vehicle corresponds to a distance required to achieve a host vehicle lateral speed of zero, at the maximum yaw rate capability of the host vehicle and the maximum change in turn radius capability of the host vehicle, starting from the current lateral speed of the host vehicle and after a lateral acceleration of the host vehicle as a result of a turning maneuver made toward the target vehicle at the maximum yaw rate capability of the host vehicle and the maximum change in turn radius capability of the host vehicle during a reaction time associated with the host vehicle.

### Claim 17 (depends on 15)

The system of claim 15, wherein the lateral braking distance for the target vehicle corresponds to a distance required to achieve a target vehicle lateral speed of zero, at the target vehicle maximum yaw rate capability and the target vehicle maximum change in turn radius capability, starting from the current lateral speed of the target vehicle and after a lateral acceleration of the target vehicle as a result of a turning maneuver by the target vehicle toward the host vehicle made at the target vehicle maximum yaw rate capability and the target vehicle maximum change in turn radius capability during a reaction time associated with the target vehicle.

### Claim 18 (depends on 15)

The system of claim 15, wherein the at least one processing device is programmed to implement the planned navigational action regardless of the next-state lateral distance if the planned navigational action would result in a safe longitudinal distance between the host vehicle and the target vehicle.

### Claim 19 (depends on 18)

The system of claim 18, wherein the safe longitudinal distance is greater than or equal to a sum of a host vehicle longitudinal stopping distance and a target vehicle longitudinal stopping distance;
wherein the host vehicle stopping distance is based on a maximum longitudinal braking capability of the host vehicle and a cu merit longitudinal speed of the host vehicle, and wherein the host vehicle stopping distance includes a host vehicle acceleration distance corresponding to a distance the host vehicle can travel at a maximum acceleration capability of the host vehicle during a reaction time associated with the host vehicle starting from the current longitudinal speed of the host vehicle; and
wherein the target vehicle stopping distance is based on a maximum longitudinal braking capability of the target vehicle and a current longitudinal speed of the target vehicle, and wherein the target vehicle stopping distance includes a target vehicle acceleration distance corresponding to a distance the target vehicle can travel at a maximum acceleration capability of the target vehicle during a reaction time associated with the target vehicle starting from the current longitudinal speed of the target vehicle.

### Claim 20 (depends on 15)

The system of claim 15, wherein at least one of the target vehicle maximum yaw rate capability and the target vehicle maximum change in turn radius capability is determined based on at least one characteristic of the target vehicle identified through analysis of the at least one image.

### Claim 21 (depends on 20)

The system of claim 20, wherein the at least one characteristic of the target vehicle includes one or more of a vehicle type, a vehicle size, or a vehicle model.

### Claim 22 (depends on 15)

The system of claim 15, wherein the maximum yaw rate capability of the host vehicle and the maximum change in turn radius capability of the host vehicle are based on predetermined constraints for the host vehicle.

### Claim 23 (depends on 15)

The system of claim 15, wherein the current lateral speed of the target vehicle is determined based on an output of a RADAR unit or a LIDAR unit associated with the host vehicle.

### Claim 24 (depends on 15)

The system of claim 15, wherein at least one of the maximum yaw rate capability of the host vehicle or the maximum chance in turn radius capability of the host vehicle is determined based on a sensed condition of a road surface.

### Claim 25 (depends on 15)

The system of claim 15, wherein at least one of the target vehicle maximum yaw rate capability or the target vehicle maximum change in turn radius capability is determined based on a sensed condition of a road surface.

### Claim 26 (depends on 15)

The system of claim 15, wherein at least one of the maximum yaw rate capability of the host vehicle, the maximum change in turn radius capability of the host vehicle, the target vehicle maximum yaw rate capability, or the target vehicle maximum change in turn radius capability is determined based on a sensed weather condition.

### Claim 27 (depends on 15)

The system of claim 15, wherein the planned navigational action includes at least one of a lane change maneuver, a merge maneuver, a passing maneuver, a parking lot navigation maneuver, or a turning maneuver.

### Claim 28 (depends on 15)

The system of claim 15, wherein the at least one processing device is configured to implement the planned navigational action if the determined next-state lateral distance is greater, by at least a predetermined minimum distance, than the sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle.

### Claim 29 (depends on 28)

The system of claim 28, wherein the predetermined minimum distance corresponds to a predetermined lateral separation distance to be maintained between the host vehicle and other vehicles.

### Claim 30 (depends on 29)

The system of claim 29, wherein the predetermined lateral separation distance is at least one meter.